Repetitive Motion Planning of Robotic Manipulators With Guaranteed Precision

摘要

Repetitive motion planning (RMP) plays a remarkable role in the operation of robotic manipulators. In this article, the RMP of robotic manipulators wherein the high precision of joint angle repeatability and end-effector motion is guaranteed is investigated. In particular, a novel pseudoinverse-based (P-based) RMP scheme is designed and proposed for robotic manipulators by applying a special difference rule to discretize the existing RMP scheme with P-based formulation. Such scheme is theoretically analyzed and proven to simultaneously guarantee joint angle repetitive precision and end-effector motion precision. Comparative simulation results of a five-link robotic manipulator and a universal robotic manipulator are provided to verify the effective performance of the proposed P-based RMP scheme. The physical realizability of the proposed scheme is further substantiated by implementing the scheme on a practical EPSON robotic manipulator.